Nine-motion-degree robot mechanism
A robot and mobility technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of large inertia, accumulation of joint errors, and small working space of parallel robot mechanisms, and achieve simple and compact overall structure, good error compensation, The effect of flexible track output
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[0020] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0021] control figure 1 , 2 , 3 and 4, the nine-degree-of-motion robot mechanism is composed of a three-dimensional rotating arm mechanism, a three-dimensional rotating arm mechanism and a three-dimensional rotating platform mechanism.
[0022] control figure 1 , 2 , the three-dimensional rotating boom mechanism is composed of a three-dimensional rotating boom 7, a first linear driver 5, a second linear driver 25 and a third linear driver 26, and the three-dimensional rotating boom 7 is connected to the frame through the first spherical pair 4 1, one end of the first linear driver 5 is connected to the frame 1 through the second spherical pair 3, and the other end is connected to the three-dimensional rotating boom 7 through the third spherical pair 6; one end of the second linear driver 25 is connected to the frame through...
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